ResearchBenchmarksRelative Pose Estimation on ACIDRelative Pose Estimation on ACIDFollow35.4Success Rate (5° Error)UniSplat10.33616.84323.3529.857Apr 12, 2026Evaluation resultsMethodMethodLinksSuccess Rate (5° Error)Success Rate (10° Error)Success Rate (20° Error)UniSplat2026.0435.451.666.1NoPoSplat2026.0434.250.465.3SelfSplat2026.0421.337.254.1MASt3R2026.0415.936.252.4DUSt3R2026.0411.327.346.9